SCIENTIA SINICA Technologica, Volume 49 , Issue 12 : 1418-1428(2019) https://doi.org/10.1360/SST-2019-0109

Guidance navigation and control for Chang’E-4 lander

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  • ReceivedMar 20, 2019
  • AcceptedJul 4, 2019
  • PublishedDec 6, 2019


The Chang’E-4 lander achieved a soft landing on the far side of the Moon, the first such mission in history. The guidance, navigation, and control (GNC) system was one of the most important systems in achieving that mission. In this paper, we propose the lunar far side soft-landing trajectory, parallel fault-tolerant navigation, and autonomous fault diagnosis and recovery to meet the mission requirements for a lunar far side soft landing. The actual flight results show that these techniques performed well in orbit, the lander successfully reached the target site, and the landing attitude and velocity were better than the corresponding requirements. Consequently, the Chang’E-4 lander was able to successfully complete the soft-landing mission. In this paper, we present the requirements, architecture, some techniques, and the in-orbit results of the GNC system of the Chang’E-4 lander.

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